#!/usr/bin/env python
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# \author Rein Appeldoorn

from dynamic_reconfigure.parameter_generator_catkin import *

PACKAGE = "laser_filters"

gen = ParameterGenerator()

gen.add("lower_threshold", double_t, 0,
        "Range values lower than this value will be filtered", 0.0, 0.0, 100000.0)
gen.add("upper_threshold", double_t, 0,
        "Range values greater than this value will be filtered", 100000.0, 0.0, 100000.0)
gen.add("use_message_range_limits", bool_t, 0, "Use the range_min and range_max values from the laserscan message as threshold. Defaults to false", False)

gen.add("lower_replacement_value", double_t, 0,
        "Use this value for all measurements <lower_threshold. Default: NaN", 0, 0.0, 100000.0)
        
gen.add("upper_replacement_value", double_t, 0,
        "Use this value for all measurements >upper_threshold. Default: NaN", 100000.0, 0.0, 100000.0)
        
exit(gen.generate(PACKAGE, "laser_filters", "RangeFilter"))
